robot.cpp

This is an example of how to create hierarchical models using CIvfTranform instances.

// ------------------------------------------------------------
//
// Ivf++ Robot arm example
//
// ------------------------------------------------------------
//
// Author: Jonas Lindemann
//

// ------------------------------------------------------------
// Include files
// ------------------------------------------------------------

#include <ivfui/IvfApplication.h>
#include <ivfui/IvfWindow.h>

#include <ivf/IvfCamera.h>
#include <ivf/IvfSphere.h>
#include <ivf/IvfCylinder.h>
#include <ivf/IvfAxis.h>
#include <ivf/IvfComposite.h>
#include <ivf/IvfTransform.h>
#include <ivf/IvfLighting.h>
#include <ivf/IvfLight.h>
#include <ivf/IvfMaterial.h>

// ------------------------------------------------------------
// Window class definition
// ------------------------------------------------------------

IvfSmartPointer(CExampleWindow);

class CExampleWindow: public CIvfWindow {
private:
        CIvfCameraPtr           m_camera;
        CIvfCompositePtr  m_scene;
        CIvfLightPtr            m_light;

        CIvfTransformPtr  m_part1;
        CIvfTransformPtr  m_part2;
        CIvfTransformPtr  m_part3;
        CIvfTransformPtr  m_arm;

        double m_alfa;
        double m_beta;
        double m_gamma;
        double m_delta;

        void updateArm();
public:
        CExampleWindow(int X, int Y, int W, int H)
                :CIvfWindow(X, Y, W, H) {};


        virtual void onInit(int width, int height);
        virtual void onResize(int width, int height);
        virtual void onRender();
        virtual void onDestroy();
        virtual void onKeyboard(int key, int x, int y);
};

// ------------------------------------------------------------
// Window class implementation
// ------------------------------------------------------------

void CExampleWindow::onInit(int width, int height)
{
        // Initialize variables

        m_alfa = 0.0;
        m_beta = -45.0;
        m_gamma = 90.0;
        m_delta = 75.0;

        // Initialize Ivf++ camera

        m_camera = new CIvfCamera();
        m_camera->setPosition(0.0, 5.0, 5.0);

        // Create a materials

        CIvfMaterialPtr redMaterial = new CIvfMaterial();
        redMaterial->setDiffuseColor(1.0f, 0.0f, 0.0f, 1.0f);
        redMaterial->setSpecularColor(1.0f, 1.0f, 1.0f, 1.0f);
        redMaterial->setAmbientColor(0.5f, 0.0f, 0.0f, 1.0f);

        CIvfMaterialPtr greenMaterial = new CIvfMaterial();
        greenMaterial->setDiffuseColor(0.0f, 1.0f, 0.0f, 1.0f);
        greenMaterial->setSpecularColor(1.0f, 1.0f, 1.0f, 1.0f);
        greenMaterial->setAmbientColor(0.0f, 0.5f, 0.0f, 1.0f);
        
        CIvfMaterialPtr blueMaterial = new CIvfMaterial();
        blueMaterial->setDiffuseColor(0.0f, 0.0f, 1.0f, 1.0f);
        blueMaterial->setSpecularColor(1.0f, 1.0f, 1.0f, 1.0f);
        blueMaterial->setAmbientColor(0.0f, 0.0f, 0.5f, 1.0f);

        CIvfMaterialPtr yellowMaterial = new CIvfMaterial();
        yellowMaterial->setDiffuseColor(1.0f, 1.0f, 0.0f, 1.0f);
        yellowMaterial->setSpecularColor(1.0f, 1.0f, 1.0f, 1.0f);
        yellowMaterial->setAmbientColor(0.5f, 0.5f, 0.0f, 1.0f);

        // Create scene composite

        m_scene = new CIvfComposite();

        // Create robot base

        CIvfCylinderPtr lowerBase = new CIvfCylinder();
        lowerBase->setHeight(0.2);
        lowerBase->setMaterial(yellowMaterial);
        m_scene->addChild(lowerBase);

        CIvfCylinderPtr upperBase = new CIvfCylinder();
        upperBase->setHeight(0.3);
        upperBase->setRadius(0.5);
        upperBase->setPosition(0.0, 0.1 + 0.15, 0.0);
        upperBase->setMaterial(blueMaterial);
        m_scene->addChild(upperBase);

        // Create part1

        m_part1 = new CIvfTransform();

        CIvfSpherePtr sphere = new CIvfSphere();
        sphere->setRadius(0.1);
        sphere->setMaterial(redMaterial);
        m_part1->addChild(sphere);

        CIvfCylinderPtr cylinder = new CIvfCylinder();
        cylinder->setRadius(0.1);
        cylinder->setHeight(1.0);
        cylinder->setMaterial(greenMaterial);
        cylinder->setPosition(0.0, 0.1 + 0.5, 0.0);

        m_part1->addChild(cylinder);
        m_part1->setPosition(0.0, 1.2, 0.0);
        m_part1->setRotationQuat(0.0, 0.0, 1.0, m_delta);

        // Create part2

        m_part2 = new CIvfTransform();

        sphere = new CIvfSphere();
        sphere->setRadius(0.1);
        sphere->setMaterial(redMaterial);
        m_part2->addChild(sphere);

        cylinder = new CIvfCylinder();
        cylinder->setRadius(0.1);
        cylinder->setHeight(1.0);
        cylinder->setMaterial(greenMaterial);
        cylinder->setPosition(0.0, 0.1 + 0.5, 0.0);
        m_part2->addChild(cylinder);
        m_part2->addChild(m_part1);
        m_part2->setPosition(0.0, 1.2, 0.0);
        m_part2->setRotationQuat(0.0, 0.0, 1.0, m_gamma);

        // Create part3

        m_part3 = new CIvfTransform();

        sphere = new CIvfSphere();
        sphere->setRadius(0.1);
        sphere->setMaterial(redMaterial);
        m_part3->addChild(sphere);

        cylinder = new CIvfCylinder();
        cylinder->setRadius(0.1);
        cylinder->setHeight(1.0);
        cylinder->setMaterial(greenMaterial);
        cylinder->setPosition(0.0, 0.1 + 0.5, 0.0);
        m_part3->addChild(cylinder);
        m_part3->addChild(m_part2);
        m_part3->setPosition(0.0, 0.0, 0.0);
        m_part3->setRotationQuat(0.0, 0.0, 1.0, m_beta);

        // Create complete arm

        m_arm = new CIvfTransform();
        m_arm->addChild(m_part3);
        m_arm->setPosition(0.0, 0.1+0.4, 0.0);
        m_arm->setRotationQuat(0.0, 1.0, 0.0, m_alfa);

        m_scene->addChild(m_arm);

        CIvfAxisPtr axis = new CIvfAxis();
        axis->setSize(1.5);
        m_scene->addChild(axis);
        
        // Create a light

        CIvfLightingPtr lighting = CIvfLighting::getInstance();

        m_light = lighting->getLight(0);
        m_light->setLightPosition(1.0, 1.0, 1.0, 0.0);
        m_light->setAmbientColor(0.2f, 0.2f, 0.2f, 1.0f); 
        m_light->enable();
}

// ------------------------------------------------------------
void CExampleWindow::onResize(int width, int height)
{
        m_camera->setPerspective(45.0, 0.1, 100.0);
        m_camera->setViewPort(width, height);
        m_camera->initialize();
}

// ------------------------------------------------------------
void CExampleWindow::onRender()
{
        m_light->render();
        m_camera->render();
        m_scene->render();
}

// ------------------------------------------------------------
void CExampleWindow::onDestroy()
{
        delete m_camera;
        delete m_light;
        delete m_scene;
}

// ------------------------------------------------------------
void CExampleWindow::onKeyboard(int key, int x, int y)
{
        switch (key) {
        case 'a':
                m_alfa += 5.0;
                updateArm();
                break;
        case 'z':
                m_alfa -= 5.0;
                updateArm();
                break;
        case 's':
                m_beta += 5.0;
                updateArm();
                break;
        case 'x':
                m_beta -= 5.0;
                updateArm();
                break;
        case 'd':
                m_gamma += 5.0;
                updateArm();
                break;
        case 'c':
                m_gamma -= 5.0;
                updateArm();
                break;
        case 'f':
                m_delta += 5.0;
                updateArm();
                break;
        case 'v':
                m_delta -= 5.0;
                updateArm();
                break;
        default:
                break;
        }
}

// ------------------------------------------------------------
void CExampleWindow::updateArm()
{
        m_arm->setRotationQuat(0.0, 1.0, 0.0, m_alfa);
        m_part1->setRotationQuat(0.0, 0.0, 1.0, m_delta);
        m_part2->setRotationQuat(0.0, 0.0, 1.0, m_gamma);
        m_part3->setRotationQuat(0.0, 0.0, 1.0, m_beta);

        redraw();
}

// ------------------------------------------------------------
// Main program
// ------------------------------------------------------------

int main(int argc, char **argv) 
{
        // Create Ivf++ application object.

        CIvfApplicationPtr app = new CIvfApplication(IVF_DOUBLE|IVF_RGB);

        // Create a window

        CExampleWindowPtr window = new CExampleWindow(0, 0, 512, 512);

        // Set window title and show window

        window->setWindowTitle("Ivf++ Robot example");
        window->show();

        // Enter main application loop

    app->run();

        return 0;
}

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